Providing an unified build system and tooling for rust "crates", with cargo etc is all fine, but if you're not prepared to run a registry then don't. It is almost purely a political and people-handling issue. The only value a registry like crates.io provides is to have shorter human readable names instead of git repo urls. Possibly together with the ability to run some analytics on what some people write in rust. This is purely cosmetic and is a WWW anti-pattern (urls have this job).
All these tools (pip, cargo, npm) support git urls just fine. Just don't upload to the registry and make people use your existing git url, everyone will be better off and it already works.
edit: also iirc, crates.io names and rust identifiers by which you import the library are separate (although usually similar), and the identifiers can be altered when specifying a dependency in Cargo.toml. The registry and crate name do not serve any essential functionality.